Latent robot

Abstract

A latent robot, comprising a chassis (100), and an integrated travelling mechanism (200), an integrated lifting mechanism (300), an integrated main controller (400) and a battery (500) that are fixed on the chassis (100). The integrated travelling mechanism (200) comprises a travelling driver (210), a travelling power device (220) and an active travelling wheel (230), wherein the travelling driver (210) is integrally arranged at one end of the travelling power device (220) and is electrically connected to the inside of the travelling power device (220). Compared with the provision of a separate driver, the present latent robot not only saves mounting space within the chassis, but also reduces external wiring between the driver and the power device. The integrated main controller (400), which is electrically connected to the integrated travelling mechanism (200) and the integrated lifting mechanism (300), controls the integrated travelling mechanism (200) to drive the chassis (100) to move, and controls the integrated lifting mechanism (300) to lift and lower goods, eliminating the need to provide a separate interface board, and thereby reducing wiring between the controller and the interface board.

Description

A stealth robot

[0001] This application claims priority to Chinese Patent Application No. 202422672139.2, filed on November 1, 2024, entitled "A Stealth Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of logistics and warehousing technology, and in particular to a stealth robot in the field of logistics and warehousing technology. Background Technology

[0003] In the field of logistics and warehousing technology, stealth robots are often used to carry out handling work, transporting goods to designated locations to improve cargo transportation efficiency and save labor costs.

[0004] Current stealth robots typically include a chassis, a walking drive assembly, a lifting assembly, and safety obstacle avoidance and human-machine interaction components. The chassis requires multiple individual actuators, each connected to a motor in one of the aforementioned components via wiring. The chassis also needs a controller and an interface board. The interface board connects to the controller via wiring and is also electrically connected to the multiple actuators via wiring to control the various components. The controller and interface board on the chassis are typically low-power boards and digital converters.

[0005] Because the chassis must house multiple components, drivers, controllers, and interface boards to achieve the required functions, the internal space is extremely cramped. Furthermore, the various components, drivers, controllers, and interface boards are installed in different locations within the chassis and are all electrically connected via wires, resulting in chaotic wiring within the stealth robot. This not only reduces assembly efficiency but also increases the difficulty of after-sales maintenance. Additionally, since the stealth robot uses terminal blocks for circuit connections, each wire must be identified individually during maintenance and wiring harness replacement, further complicating after-sales repair. Summary of the Invention

[0006] The purpose of this application is to provide a stealth robot that improves assembly efficiency and reduces the difficulty of after-sales maintenance. The specific technical solution is as follows:

[0007] This application provides a stealth robot, including: a chassis, and an integrated walking mechanism, an integrated lifting mechanism, an integrated main controller, and a battery fixed on the chassis; the integrated walking mechanism includes: a walking driver, a walking power unit, and active walking wheels; wherein, the walking driver is integrated into one end of the walking power unit, electrically connected to the inside of the walking power unit, and controls the walking power unit to generate power; the active walking wheels are in contact with the ground and are drivenly connected to the other end of the walking power unit, moving under the power provided by the walking power unit; the integrated main controller is electrically connected to the integrated walking mechanism and the integrated lifting mechanism, controlling the integrated walking mechanism to drive the chassis to move, and controlling the integrated lifting mechanism to lift and lower goods; the battery is electrically connected to the integrated walking mechanism, the integrated lifting mechanism, and the integrated main controller through a power distribution board.

[0008] In some embodiments of this application, the integrated lifting mechanism is disposed in the middle of the chassis and includes: a lifting drive, a lifting power device, and a lifting assembly; wherein, the lifting drive is integrated into one end of the lifting power device and electrically connected to the inside of the lifting power device to control the lifting power device to generate power; the lifting assembly is used to carry goods and is drivenly connected to the other end of the lifting power device, and moves up and down under the power provided by the lifting power device to drive the goods to lift.

[0009] In some embodiments of this application, the chassis includes a front frame and a rear frame; the front frame and the rear frame are hinged by a horizontal connecting pin, allowing the front frame and the rear frame to float up and down relative to the ground.

[0010] In some embodiments of this application, the stealth robot has a front control board disposed on the front frame and a rear control board disposed on the rear frame; the front control board is electrically connected to the power distribution board and the device disposed on the front frame; the rear control board is electrically connected to the power distribution board and the device disposed on the rear frame; the integrated main controller has a front interface board integrated on one side of the front frame and a rear interface board integrated on one side of the rear frame; the front interface board is electrically connected to the front control board, and the rear interface board is electrically connected to the rear control board; the integrated main controller controls the operation of the integrated walking mechanism and the integrated lifting mechanism through the front interface board and the rear interface board.

[0011] In some embodiments of this application, the lifting assembly is disposed in the middle of the chassis and connected to the chassis; the lifting power device is located on the front frame and fixedly connected to the front frame, and the bottom of the lifting power device has a first accommodating space for accommodating the power distribution board; the integrated walking mechanism is disposed on both sides of the lifting assembly along a direction parallel to the connecting pin shaft; the battery is disposed on the rear frame and adjacent to the integrated walking mechanism; the lifting assembly has a second accommodating space inside, and the integrated main controller is disposed in the second accommodating space and fixedly connected to the chassis.

[0012] In some embodiments of this application, the lifting assembly includes a cargo platform and a lifting linkage mechanism; the lifting linkage mechanism is disposed between the cargo platform and the chassis, and is drivenly connected to the other end of the lifting power device, for supporting and driving the cargo platform to lift.

[0013] In some embodiments of this application, the integrated main controller is disposed inside the lifting linkage mechanism. The integrated main controller further includes: an upper barcode reading lens located at the top of the integrated main controller and a lower barcode reading lens located at the bottom; the upper barcode reading lens corresponds to the position of the first through hole on the cargo platform and is used to read the information of the cargo on the cargo platform, so that the control module in the integrated main controller controls the operation of the integrated lifting mechanism according to the information of the cargo; the lower barcode reading lens corresponds to the position of the second through hole on the chassis and is used to read the QR code information on the ground, so that the control module in the integrated main controller controls the operation of the integrated walking mechanism according to the QR code information.

[0014] In some embodiments of this application, the integrated lifting mechanism further includes: a rotary driver, a rotary power device, and a rotary assembly; wherein, the rotary driver is integrated at one end of the rotary power device and electrically connected to the inside of the rotary power device to control the rotary power device to generate power; the rotary assembly is disposed between the cargo platform and the lifting linkage mechanism, and is drivenly connected to the other end of the rotary power device, and rotates under the power provided by the rotary power device to drive the cargo platform and the goods on the cargo platform to rotate.

[0015] In some embodiments of this application, the rotating assembly includes: a drive gear and a slewing bearing; the drive gear is driven to the other end of the rotating power device; the inner ring of the slewing bearing is fixedly connected to the lifting linkage mechanism; the outer ring of the slewing bearing is fixedly connected to the cargo platform and meshes with the drive gear; the drive gear rotates under the power provided by the rotating power device, thereby rotating the outer ring of the slewing bearing to drive the cargo platform and the goods on the cargo platform to rotate.

[0016] In some embodiments of this application, the stealth robot further includes: a safety obstacle avoidance component; the safety obstacle avoidance component includes: a navigation laser component; the navigation laser component is disposed in the middle of the front end of the front frame and electrically connected to the front control board, for detecting obstacles on the ground, transmitting signals through the front control board to the integrated main controller, and the integrated main controller controlling the operation of the integrated walking mechanism according to the signals.

[0017] In some embodiments of this application, the safety obstacle avoidance component further includes: a front aerodynamic collision strip disposed on the outer side of the front end of the front frame, and / or a rear aerodynamic collision strip disposed on the outer side of the rear end of the rear frame; the front aerodynamic collision strip is electrically connected to the front control board and is used to transmit a signal to the integrated main controller via the front control board after a collision, and the integrated main controller controls the integrated walking mechanism to stop abruptly according to the signal; the rear aerodynamic collision strip is electrically connected to the rear control board and is used to transmit a signal to the integrated main controller via the rear control board after a collision, and the integrated main controller controls the integrated walking mechanism to stop abruptly according to the signal.

[0018] In some embodiments of this application, the safety obstacle avoidance component further includes: a buzzer, disposed on the front frame and electrically connected to the front control board; the integrated main controller can control the buzzer to sound an alarm via the front control board.

[0019] In some embodiments of this application, the stealth robot further includes: a human-machine interaction component; the human-machine interaction component includes: an operation screen; the operation screen is disposed on the outer side of the rear end of the rear frame, and the rear control board is integrated on the back of the operation screen and electrically connected to the inside of the operation screen.

[0020] In some embodiments of this application, the human-machine interface component further includes: a front emergency stop button disposed on the outer side of the front end of the front frame, and / or a rear emergency stop button disposed on the outer side of the rear end of the rear frame; the front emergency stop button is electrically connected to the front control board, and when pressed, the front control board transmits a signal to the integrated main controller, which controls the integrated walking mechanism to stop suddenly according to the signal; the rear emergency stop button is electrically connected to the rear control board, and when pressed, the rear control board transmits a signal to the integrated main controller, which controls the integrated walking mechanism to stop suddenly according to the signal.

[0021] In some embodiments of this application, the stealth robot further includes a charging port; the charging port is located at the rear end of the rear frame and is electrically connected to the battery.

[0022] In some embodiments of this application, the stealth robot further includes: two omnidirectional casters; the two omnidirectional casters are respectively disposed on the bottom surfaces of the front frame and the rear frame; the line connecting the axles of the two omnidirectional casters passes through the motion center of the chassis.

[0023] The stealth robot provided in this application embodiment has a walking driver integrated into the walking power unit and electrically connected to the inside of the walking power unit. Compared with setting a separate driver, it saves the internal installation space of the chassis and reduces the external wiring between the driver and the power unit, thereby reducing the number of internal wirings of the stealth robot, reducing assembly steps, and thus improving assembly efficiency.

[0024] By integrating the main controller to control the operation of the integrated walking and lifting mechanisms, the operation of the robot eliminates the need for separate interface boards, reducing wiring between the controller and interface boards and saving internal installation space in the chassis. The reduced number of internal wires also simplifies after-sales maintenance.

[0025] The battery is electrically connected to the integrated walking mechanism, integrated lifting mechanism and integrated main controller through the distribution board. Compared with wiring through terminal blocks, the wiring method is simplified and facilitates after-sales maintenance.

[0026] Of course, any product implementing this application does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0027] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0028] Figure 1a is a three-dimensional structural view of the stealth robot according to an embodiment of this application from a first angle;

[0029] Figure 1b is a two-dimensional structural view of the stealth robot according to an embodiment of this application from a second angle;

[0030] Figure 1c is a side view of the stealth robot shown in Figure 1a;

[0031] Figure 1d is a top view of the stealth robot shown in Figure 1a;

[0032] Figure 1e is a bottom view of the lurking robot shown in Figure 1a;

[0033] Figure 2a is a three-dimensional structural diagram of the lurking robot shown in Figure 1a without its top cover and cargo platform;

[0034] Figure 2b is an exploded view of the stealth robot shown in Figure 2a;

[0035] Figure 2c is a top view of the lurking robot shown in Figure 2a without the integrated lifting mechanism;

[0036] Figure 3 is a three-dimensional structural diagram of the integrated walking mechanism shown in Figure 2a;

[0037] Figure 4a is a three-dimensional structural diagram of the integrated lifting mechanism shown in Figure 2a from the first angle;

[0038] Figure 4b is a three-dimensional structural diagram of the integrated lifting mechanism shown in Figure 2a from the second angle;

[0039] Figure 5 is a three-dimensional structural diagram of the chassis shown in Figure 2a;

[0040] Figure 6a is a three-dimensional structural diagram of the integrated main controller shown in Figure 2a from the first angle;

[0041] Figure 6b is a three-dimensional structural diagram of the integrated main controller shown in Figure 2a from a second angle;

[0042] Figure 7a is a front view of the front interface board shown in Figure 6a;

[0043] Figure 7b is a front view of the rear interface board shown in Figure 6b.

[0044] Reference numerals: Chassis 100; Front frame 101; Rear frame 102; Connecting pin 103; Second through hole 104; Integrated main controller mounting area 105; Integrated walking mechanism mounting area 106; Battery mounting area 107; Universal caster mounting area 108; Universal caster 110; Top cover 120; Light strip 130; Integrated walking mechanism 200; Walking drive 210; Walking power unit 220; Drive wheel 230; Integrated lifting mechanism 300; lifting drive 310; lifting power unit 320; mounting bracket 321; lifting assembly 330; cargo platform 331; first through hole 3311; lifting linkage mechanism 332; second accommodating space 3321; linkage assembly 3322; first swing arm 3322A; second swing arm 3322B; first rotating shaft 3323; second rotating shaft 3324; first tie rod 3325; second tie rod 3326; connecting part 333; crank mechanism 334; fixed frame 335; rotary drive 340; rotary power unit 350; rotary assembly 360; drive gear 361; slewing bearing 362; inner ring 3621; outer ring 3622; Integrated main controller 400; front interface board 410; main control power interface 411; front control board interface 412; sensor interface 413; buzzer interface 414; reserved interface 415; reserved network port 416; rear interface board 420; battery interface 421; rear control board interface 422; debugging interface 423; Wi-Fi interface 424; HDMI interface 425; USB interface 426; upper barcode reader lens 430; lower barcode reader lens 440; battery 500; power distribution board 510; front control board 610; rear control board 620; safety obstacle avoidance component 700; navigation laser component 710; front aerodynamic collision strip 721; rear aerodynamic collision strip 722; buzzer 730; human-machine interaction component 800; operation screen 810; front emergency stop button 821; rear emergency stop button 822; integrated function button 830; charging port 900. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments in this application are within the scope of protection of this application.

[0046] As mentioned in the background section, in the field of logistics and warehousing technology, stealth robots are often used to carry out handling work, transporting goods to designated locations to improve cargo transportation efficiency and save labor costs.

[0047] A stealth robot is a small robot capable of operating beneath objects, allowing it to function in confined spaces. It is commonly used to access goods at the bottom of shelves. To maximize storage density, shelves are typically configured with a large number of shelves, with the bottom shelf positioned very low. This results in limited space at the bottom for the stealth robot to access goods. Therefore, to adapt to these limited workspaces, the internal structure of a stealth robot is quite compact.

[0048] Current stealth robots typically include a chassis, a walking drive assembly, a lifting assembly, a safety obstacle avoidance system, and a human-machine interface assembly. The chassis requires multiple individual actuators, each connected to a motor in one of the aforementioned components via wiring. The chassis also needs a controller and an interface board. The interface board connects to the controller via wiring and is also electrically connected to the multiple actuators via wiring to control the various components. The controller and interface board on the chassis are typically low-power boards and digital converters.

[0049] Because the chassis must house multiple components, drivers, controllers, and interface boards to achieve the required functions, the internal space is extremely cramped. Furthermore, the various components, drivers, controllers, and interface boards are installed in different locations within the chassis and are all electrically connected via wires, resulting in chaotic wiring within the stealth robot. This not only reduces assembly efficiency but also increases the difficulty of after-sales maintenance. Additionally, since the stealth robot uses terminal blocks for circuit connections, each wire must be identified individually during maintenance and wiring harness replacement, further complicating after-sales repair.

[0050] To improve assembly efficiency and reduce after-sales maintenance difficulty, this application provides a stealth robot. Referring to Figures 1a to 3, Figure 1a is a perspective view of the stealth robot from a first angle according to this application embodiment; Figure 1b is a perspective view of the stealth robot from a second angle according to this application embodiment; Figure 1c is a side view of the stealth robot shown in Figure 1a; Figure 1d is a top view of the stealth robot shown in Figure 1a; Figure 1e is a bottom view of the stealth robot shown in Figure 1a; Figure 2a is a perspective view of the stealth robot shown in Figure 1a without the top cover 120 and the cargo platform 331; Figure 2b is an exploded view of the stealth robot shown in Figure 2a; Figure 2c is a top view of the stealth robot shown in Figure 2a without the integrated lifting mechanism 300; and Figure 3 is a perspective view of the integrated walking mechanism 200 shown in Figure 2a. The first angle shown in Figure 1a and the second angle shown in Figure 1b respectively illustrate the stealth robot from a frontal and rearward perspective.

[0051] As shown in Figures 2a to 2c, the stealth robot includes: a chassis 100, and an integrated walking mechanism 200, an integrated lifting mechanism 300, an integrated main controller 400, and a battery 500 fixed on the chassis 100.

[0052] The integrated walking mechanism 200 includes: a walking drive 210, a walking power unit 220, and a driving walking wheel 230.

[0053] The walking drive 210 is integrated at one end of the walking power device 220 and is electrically connected to the inside of the walking power device 220 to control the walking power device 220 to generate power.

[0054] The active walking wheel 230 is in contact with the ground and is driven by the other end of the walking power device 220, moving under the power provided by the walking power device 220.

[0055] The integrated main controller 400 is electrically connected to the integrated walking mechanism 200 and the integrated lifting mechanism 300, controlling the integrated walking mechanism 200 to drive the chassis 100 to move, and controlling the integrated lifting mechanism 300 to drive the cargo to rise and fall;

[0056] The battery 500 is electrically connected to the integrated walking mechanism 200, the integrated lifting mechanism 300 and the integrated main controller 400 via the power distribution board 510.

[0057] Specifically, the integrated main controller 400 and the integrated walking mechanism 200 are electrically connected to the walking driver 210. By transmitting command signals to the walking driver 210, the walking power unit 220 is driven to provide power to the active walking wheel 230.

[0058] The walking power unit 220 can be an electric motor, or an electric motor and a reducer.

[0059] The number of batteries 500 is at least one, as shown in Figure 2a. In this embodiment, there are two batteries 500, which are arranged opposite each other on both sides of the chassis 100. The batteries 500 are electrically connected to the walking power device 220 of the integrated walking mechanism 200 through the power distribution board 510 to provide power to the integrated walking mechanism 200.

[0060] The power distribution board 510 is fixedly mounted on the chassis 100. Its wiring method involves inserting the power cables for the integrated walking mechanism 200, integrated lifting mechanism 300, and integrated main controller 400 into the sockets of the power distribution board 510. Existing technologies typically use terminal blocks, requiring the wires to be stripped and the exposed wires connected to the metal parts of the terminal blocks before securing them with screws or clips. This application uses the power distribution board 510 for wiring, resulting in neat and aesthetically pleasing internal wiring within the stealth robot, facilitating wiring during assembly, and simplifying cable replacement and maintenance.

[0061] As shown in Figures 1a to 1d, the stealth robot has a top cover 120; the top cover is positioned above the chassis 100 and is detachably connected to the chassis 100. Partially integrated walking mechanism 200, partially integrated lifting mechanism 300, integrated main controller 400, and battery 500 are all housed within the internal accommodating space enclosed by the top cover 120 and the chassis 100.

[0062] The number of integrated walking mechanisms 200 is at least two sets, which are arranged opposite to each other on the chassis 100. The active walking wheels 230 of the integrated walking mechanism 200 can be arranged on the outer sides of the top cover 120 and the chassis 100, as shown in Figures 1a and 1e, or they can extend downward from the chassis 100. This application does not limit the specific position of the active walking wheels 230, as long as the active walking wheels 230 can contact the ground.

[0063] As shown in Figures 1a and 2a, the cargo platform 331 of the integrated lifting mechanism 300 is positioned above the top cover 120 and connected to the chassis 100 via a lifting linkage mechanism 332. The cargo platform 331 is used to carry goods and can move vertically up and down to lift the goods. Details of the integrated lifting mechanism 300 will be provided later.

[0064] The stealth robot provided in this application embodiment has a walking driver 210 integrated into the walking power unit 220 and electrically connected to the inside of the walking power unit 220. Compared with setting a separate driver, it saves the internal installation space of the chassis and reduces the external wiring between the driver and the power unit, thereby reducing the number of internal wirings of the stealth robot, reducing assembly steps, and thus improving assembly efficiency.

[0065] The integrated main controller 400 controls the operation of the integrated walking mechanism 200 and the integrated lifting mechanism 300, eliminating the need for separate interface boards. This reduces the wiring between the controller and the interface board, saving internal installation space in the chassis. The reduced number of internal wires in the stealth robot also simplifies after-sales maintenance.

[0066] The battery 500 is electrically connected to the integrated walking mechanism 200, the integrated lifting mechanism 300 and the integrated main controller 400 through the power distribution board 510. Compared with wiring through terminal blocks, the wiring method is simplified and facilitates after-sales maintenance.

[0067] In some embodiments of this application, referring to Figures 4a and 4b, Figure 4a is a perspective view of the integrated lifting mechanism 300 shown in Figure 2a from a first angle; Figure 4b is a perspective view of the integrated lifting mechanism 300 shown in Figure 2a from a second angle. The first angle shown in Figure 4a and the second angle shown in Figure 4b respectively illustrate the integrated lifting mechanism 300 from two different perspectives.

[0068] As shown in Figures 2a, 2b, 4a and 4b, the integrated lifting mechanism 300 is located in the middle of the chassis 100 and includes: a lifting drive 310, a lifting power unit 320 and a lifting assembly 330.

[0069] The lifting drive 310 is integrated at one end of the lifting power device 320 and is electrically connected to the inside of the lifting power device 320 to control the lifting power device 320 to generate power.

[0070] The lifting assembly 330 is used to carry goods and is driven to the other end of the lifting power device 320. It moves up and down under the power provided by the lifting power device 320 to lift the goods.

[0071] Specifically, the lifting drive 310, which integrates the main controller 400 and the lifting mechanism 300, is electrically connected. By transmitting command signals to the lifting drive 310, the lifting power unit 320 is driven to provide power to the lifting assembly 330.

[0072] The lifting power unit 320 can be a motor, or a motor and a reducer.

[0073] The battery 500 is electrically connected to the lifting power unit 320 of the integrated lifting mechanism 300 via the power distribution board 510, so as to provide power for the integrated lifting mechanism 300 to lift goods.

[0074] The lifting assembly 330 can be a combination of the cargo platform 331 and the lifting linkage mechanism 332 shown in Figures 4a and 4b. Through transmission between the linkages, the cargo platform 331 is raised and lowered. The lifting assembly 330 can also be a combination of the cargo platform 331 and an electric telescopic component. The fixed end of the electric telescopic component is connected to the chassis, and the movable end is connected to the cargo platform 331. Driven by the lifting power device 320, the movable end of the electric telescopic component raises and lowers the cargo platform 331. This application does not limit the specific structure of the lifting assembly 330.

[0075] In the embodiments of this application, the lifting driver 310 is integrated into the lifting power device 320 and electrically connected to the inside of the lifting power device 320. Compared with setting a separate driver, it saves the internal installation space of the chassis, reduces the external wiring between the driver and the power device, further reduces the number of internal wirings of the lurking robot, reduces assembly steps, and thus further improves assembly efficiency.

[0076] In some embodiments of this application, referring to FIG5, FIG5 is a perspective structural diagram of the chassis 100 shown in FIG2a. As shown in FIG5, the chassis 100 includes a front frame 101 and a rear frame 102. The front frame 101 and the rear frame 102 are hinged by a horizontal connecting pin 103, allowing the front frame 101 and the rear frame 102 to float up and down relative to the ground.

[0077] Specifically, when a stealth robot is transporting goods, uneven road surfaces can cause the robot to bounce, potentially leading to goods shifting or falling off. This application provides a connecting pin 103 to hinge the front frame 101 and the rear frame 102. When encountering road undulations, the front frame 101 and the rear frame 102 can move up and down, following the road's contours, to prevent goods on the cargo platform from shifting or falling off.

[0078] As shown in Figure 5, the chassis 100 is divided into multiple installation areas. The center of the chassis 100 is set as the integrated main controller installation area 105. Part of the integrated main controller installation area 105 is located on the front frame 101 and the other part is located on the rear frame 102. This allows the cables of the equipment on the front frame 101 and the rear frame 102 to converge towards the center of the chassis 100 and connect to the integrated main controller 400, avoiding messy wiring inside the lurking robot and improving the efficiency of assembly and subsequent maintenance.

[0079] The integrated main controller mounting area 105 has hollowed-out integrated walking mechanism mounting areas 106 on both sides along the hinge axis. In this embodiment, the walking driver 210 of the integrated walking mechanism 200 is located on the side of the integrated walking mechanism mounting area 106 closer to the integrated main controller mounting area 105, and the active walking wheel 230 is located on the side of the integrated walking mechanism mounting area 106 away from the integrated main controller mounting area 105. In other embodiments, the orientation of the integrated walking mechanism 200 can be opposite to the above-mentioned orientation, that is, the active walking wheel 230 is located on the side closer to the integrated main controller mounting area 105. The farther the active walking wheel 230 is from the center of the chassis 100, the smoother the movement of the stealth robot. This application does not limit the mounting orientation of the integrated walking mechanism 200. This application does not limit the number of integrated walking mechanism installation areas 106, which are usually the same as the number of integrated walking mechanisms 200, as shown in Figure 5. When there are more than two integrated walking mechanisms 200, the area of ​​the integrated walking mechanism installation area 106 will also be increased or expanded accordingly so that two or more integrated walking mechanisms 200 can be installed in one integrated walking mechanism installation area 106.

[0080] A battery mounting area 107 is provided on the rear frame 102 near the integrated walking mechanism mounting area 106.

[0081] As shown in Figure 2b, the stealth robot also includes two omnidirectional casters 110. The two omnidirectional casters 110 are respectively disposed on the bottom surfaces of the front frame 101 and the rear frame 102; the line connecting the axles of the two omnidirectional casters 110 passes through the motion center of the chassis 100, making the movement of the stealth robot more stable.

[0082] Two swivel casters 110 are used to support the chassis 100 and, together with the drive wheel 230, to move the chassis 100 and the equipment on the chassis 100 to transport goods to the target location.

[0083] As shown in Figure 5, two omnidirectional caster mounting areas 108 are provided diagonally on the chassis 100. The omnidirectional caster mounting areas 108 protrude upwards, forming a space between themselves and the ground to accommodate the omnidirectional casters 110, so that only part of the omnidirectional casters 110 are exposed from the chassis, which can reduce the height of the lurking robot to adapt to a lower working space.

[0084] As shown in Figures 1a to 1c and Figure 2a, light strips 130 are provided on both sides of the front end of the front frame 101, which can illuminate to remind and warn of the current operating status.

[0085] Using the embodiments of this application, when encountering road undulations, the front frame 101 and the rear frame 102 can float up and down to follow the road undulations, thereby preventing the goods on the cargo platform 331 from shifting or falling off. The chassis 100 is divided into multiple installation areas, which makes the internal structure installation layout of the stealth robot simple, the wiring clear and neat, and facilitates assembly and maintenance.

[0086] In some embodiments of this application, as shown in Figures 2a, 2b, 4a and 4b, the lifting assembly 330 is disposed in the middle of the chassis 100 and connected to the chassis 100.

[0087] The lifting power unit 320 is located on the front frame 101 and is fixedly connected to the front frame 101. The bottom of the lifting power unit 320 has a first receiving space for accommodating the power distribution board 510.

[0088] The integrated walking mechanism 200 is disposed on both sides of the lifting assembly 330 along a direction parallel to the connecting pin 103. The battery 500 is disposed on the rear frame 102, adjacent to the integrated walking mechanism 200.

[0089] The lifting assembly 330 has a second accommodating space 3321 inside, and the integrated main controller 400 is set in the second accommodating space 3321 and is fixedly connected to the chassis 100.

[0090] Specifically, as shown in Figures 4a and 4b, the lifting power device 320 and the lifting drive 310 are arranged horizontally. One end of the lifting power device 320 is fixed to the chassis 100 by the mounting bracket 321, so that the other end and the lifting drive 310 on the other end are suspended in the air, forming a first accommodating space between them and the chassis 100.

[0091] In the embodiments of this application, the power distribution board 510 is disposed in the first accommodating space at the bottom of the lifting power device 320, and the integrated main controller 400 is disposed in the second accommodating space 3321 inside the lifting assembly 330, making the internal structure of the stealth robot more compact, improving the utilization rate of the internal space of the stealth robot, and making the stealth robot smaller in size to adapt to lower working spaces.

[0092] In some embodiments of this application, as shown in FIG1c, FIG4a and FIG4b, the lifting assembly 330 includes a cargo platform 331 and a lifting linkage mechanism 332.

[0093] The lifting linkage mechanism 332 is located between the cargo platform 331 and the chassis 100, and is driven and connected to the other end of the lifting power device 320, for supporting and driving the cargo platform 331 to lift.

[0094] The following describes the process of the stealth robot picking up and placing goods.

[0095] The bottom shelf of the rack is divided into multiple storage positions along its length, each for storing one item. Each storage position has a through slot perpendicular to the length of the rack, the width of which is greater than the dimensions of the loading platform 331 but smaller than the dimensions of the item.

[0096] During retrieval, the unloaded stealth robot moves its chassis 100 below the channel via the integrated walking mechanism 200. Specifically, it can move to the bottom of the channel in any direction; this application does not limit this.

[0097] Then, the lifting power device 320 drives the lifting linkage mechanism 332 to lift the cargo platform 331, allowing the cargo platform 331 to pass through the through slot and lift the goods; then, the integrated walking mechanism 200 drives the chassis 100 to move along the through slot and exit the through slot, and the lifting power device 320 drives the lifting linkage mechanism 332 to lower the cargo platform 331 and carry the goods to the target location.

[0098] When loading goods, the lurking robot moves the chassis 100 to one end of the channel via the integrated walking mechanism 200; then, the lifting power device 320 drives the lifting linkage mechanism 332 to lift the loading platform 331, and the integrated walking mechanism 200 drives the chassis to continue moving along the channel, so that the lifting linkage mechanism 332 enters the channel; then, the lifting power device 320 drives the lifting linkage mechanism 332 to lower the loading platform 331 to place the goods on the bottom shelf of the shelf.

[0099] Specifically, as shown in Figures 4a and 4b, the second accommodating space 3321 is located inside the lifting linkage mechanism 332. The lifting linkage mechanism 332 includes two sets of linkage assemblies 3322 arranged opposite to each other. Each set of linkage assemblies 3322 includes a first swing arm 3322A and a second swing arm 3322B arranged sequentially from top to bottom.

[0100] The upper end of the first swing arm 3322A of the two sets of linkage assemblies 3322 is hinged with a connecting part 333. The connecting part 333 is horizontally arranged, and its top is fixedly or movably connected to the cargo platform 331. The lower end of the first swing arm 3322A of the two sets of linkage assemblies 3322 is rotatably connected to the upper end of the second swing arm 3322B of the two sets of linkage assemblies 3322 through a first rotating shaft 3323. The lower end of the second swing arm 3322B is rotatably connected to the chassis 100 through a second rotating shaft 3324 (rotational connection seat not shown in the figure).

[0101] The output end of the lifting power device 320 is connected to a crank mechanism 334. The crank mechanism is rotatably connected to the first rotating shaft 3323. The crank mechanism 334 can rotate under the drive of the lifting power device 320. It drives the first swing arm 3322A and the second swing arm 3322B to rotate through the first rotating shaft 3323, so that the connecting part 333 at the upper end of the first swing arm 3322A moves up and down.

[0102] Specifically, the first swing arm 3322A and the second swing arm 3322B rotate in opposite directions. When the lifting power device 320 drives the lifting, the first swing arm 3322A and the second swing arm 3322B unfold relative to each other. When the lifting is driven down, the first swing arm 3322A and the second swing arm 3322B fold relative to each other.

[0103] The lifting linkage mechanism 332 also includes two first tie rods 3325 and two second tie rods 3326. The two first tie rods 3325 and the two second tie rods 3326 are respectively arranged on both sides of the linkage assembly 3322.

[0104] A fixing bracket 335 is provided on each side of the connecting rod assembly 3322, and the fixing bracket 335 is fixedly mounted on the chassis 100.

[0105] The first pull rod 3325 is rotatably connected to the fixed frame 335 and the connecting part 333 at both ends, and the second pull rod 3326 is rotatably connected to the first rotating shaft 3323 of the two sets of connecting rod assemblies 3322 at both ends, so as to keep the two sets of connecting rod assemblies 3322 able to lift and lower synchronously, thereby improving the lifting stability of the lifting linkage mechanism 332.

[0106] The top cover 120 has an opening so that the lifting linkage mechanism 332 can pass through the top cover 120 to lift the cargo platform 331.

[0107] When the lifting linkage mechanism 332 is in the unfolded state, the cargo platform 331 is in the raised state; when the lifting linkage mechanism 332 is in the folded state, the cargo platform 331 is in the lowered state.

[0108] In the embodiments of this application, a lifting linkage mechanism 332 is provided, which can both unfold under the drive of the lifting power device 320 to raise the cargo platform 331, and fold under the drive of the lifting power device 320 to lower the cargo platform 331. In the folded state, the height dimension of the lifting component 330 is smaller, thereby making the lurking robot smaller in size to adapt to lower working spaces.

[0109] In some embodiments of this application, as shown in FIG1c, FIG4a and FIG4b, the integrated lifting mechanism 300 further includes: a rotary driver 340, a rotary power unit 350 and a rotary assembly 360.

[0110] The rotary actuator 340 is integrated at one end of the rotary power unit 350 and is electrically connected to the inside of the rotary power unit 350 to control the rotary power unit 350 to generate power.

[0111] The rotating component 360 is disposed between the cargo platform 331 and the lifting linkage mechanism 332, and is driven to the other end of the rotating power device 350. It rotates under the power provided by the rotating power device 350 to drive the cargo platform 331 and the goods on the cargo platform 331 to rotate.

[0112] Specifically, when the lifting power device 320 drives the top connecting part 333 of the lifting linkage mechanism 332 to move in the vertical direction, the rotary driver 340, the rotary power device 350 and the rotary assembly 360 move together with the connecting part 333.

[0113] The rotary drive 340, which integrates the main controller 400 and the lifting mechanism 300, is electrically connected. By transmitting command signals to the rotary drive 340, the rotary power unit 350 is driven to provide power to the rotary assembly 360.

[0114] The battery 500 is electrically connected to the rotating power unit 350 of the integrated lifting mechanism 300 via the power distribution plate 510, to provide power for the integrated lifting mechanism 300 to rotate the cargo.

[0115] A rotating power unit 350 is fixedly mounted at the bottom of the connecting part 333, and a rotating component 360 is disposed between the connecting part 333 and the cargo platform 331, capable of driving the cargo platform 331 to rotate relative to the connecting part 333. The rotating power unit 350 can be a motor, or a motor and a reducer.

[0116] By employing the embodiments of this application, the cargo platform 331 can rotate goods by setting up a rotary driver 340, a rotary power unit 350, and a rotary assembly 360, enabling the stealth robot to pick up and place goods more flexibly. The rotary driver 340 is integrated into the rotary power unit 350 and electrically connected to the inside of the rotary power unit 350. Compared to setting up a separate driver, this saves internal chassis installation space, reduces external wiring between the driver and the power unit, further reduces the number of internal wirings in the stealth robot, reduces assembly steps, and thus further improves assembly efficiency.

[0117] By applying the integrated walking mechanism 200, integrated lifting mechanism 300 and integrated main controller 400 provided in the embodiments of this application, the assembly work of the whole vehicle is simplified and the subsequent maintenance is quick.

[0118] In some embodiments of this application, as shown in Figures 4a and 4b, the rotating assembly 360 includes a drive gear 361 and a slewing bearing 362.

[0119] The drive gear 361 is driven to the other end of the rotary power unit 350.

[0120] The inner ring 3621 of the slewing bearing 362 is fixedly connected to the lifting linkage mechanism 332; the outer ring 3622 of the slewing bearing 362 is fixedly connected to the cargo platform 331 and meshes with the drive gear 361.

[0121] Drive gear 361 rotates under the power provided by rotary power unit 350, which drives the outer ring 3622 of slewing bearing 362 to rotate, thereby driving the cargo platform 331 and the cargo on the cargo platform 331 to rotate.

[0122] Specifically, the inner ring 3621 of the slewing bearing 362 is fixedly connected to the connecting part 333, the outer ring 3622 is sleeved outside the inner ring 3621 and rotatably connected to the inner ring 3621, the top surface is fixedly connected to the cargo platform 331, and the side surface meshes with the drive gear 361.

[0123] In the embodiments of this application, the loading platform 331 is rotated by meshing transmission, resulting in smoother transmission and higher transmission accuracy, enabling precise lifting and lowering of the loading platform 331. The slewing bearing 362 has a hollow structure, is lightweight, and allows the stealth robot to be lighter; the height of the slewing bearing 362 can be set lower, making the stealth robot smaller and adaptable to lower working spaces.

[0124] In some embodiments of this application, referring to Figures 6a and 6b, Figure 6a is a three-dimensional structural view of the integrated main controller 400 shown in Figure 2a from a first angle; Figure 6b is a three-dimensional structural view of the integrated main controller 400 shown in Figure 2a from a second angle. The first angle shown in Figure 6a and the second angle shown in Figure 6b respectively illustrate the integrated main controller 400 from two perspectives: a slightly forward angle and a slightly backward angle.

[0125] As shown in Figures 2a, 6a and 6b, the integrated main controller 400 is disposed inside the lifting linkage mechanism 332. The integrated main controller 400 also includes an upper code reading lens 430 located at the top of the integrated main controller 400 and a lower code reading lens 440 located at the bottom.

[0126] As shown in Figure 1d, the upper reading lens 430 corresponds to the position of the first through hole 3311 on the cargo platform 331, and is used to read the information of the goods on the cargo platform 331, so that the control module in the integrated main controller 400 controls the operation of the integrated lifting mechanism 300 according to the information of the goods.

[0127] As shown in Figure 1e, the lower barcode reading lens 440 corresponds to the position of the second through hole 104 on the chassis 100, and is used to read the QR code information on the ground so that the control module in the integrated main controller 400 can control the operation of the integrated walking mechanism 200 according to the QR code information.

[0128] Specifically, during the retrieval process, the unloaded stealth robot moves to the bottom of the channel and can locate its retrieval position by scanning with the lower barcode reader 440. When the lower barcode reader 440 scans the QR code on the ground below the channel, the stealth robot's position is the retrieval position. The integrated main controller 400 then controls the integrated walking mechanism 200 to stop moving and begin retrieval. The upper barcode reader 430 scans the QR code on the bottom of the goods on the shelf and transmits the QR code information to the control module within the integrated main controller 400. Subsequently, the control module within the integrated main controller 400 controls the lifting height and rotation angle of the loading platform 331 based on the received QR code information.

[0129] By applying the embodiments of this application, the control module within the integrated main controller 400 can control the operation of the integrated walking mechanism 200 and the integrated lifting mechanism 300 based on the information fed back from the upper barcode reading lens 430 and the lower barcode reading lens 440, making the positioning of the lurking robot for picking up and placing goods more accurate.

[0130] In some embodiments of this application, referring to Figures 6a to 7b, Figure 6a is a perspective view of the integrated main controller shown in Figure 2a from a first angle; Figure 6b is a perspective view of the integrated main controller shown in Figure 2a from a second angle; Figure 7a is a front view of the front interface board 410 shown in Figure 6a; and Figure 7b is a front view of the rear interface board 420 shown in Figure 6b.

[0131] As shown in Figures 2a to 2c, the stealth robot has a front control board 610 disposed on the front frame 101 and a rear control board 620 disposed on the rear frame 102.

[0132] The front control board 610 is electrically connected to the power distribution board 510 and the equipment installed on the front frame 101; the rear control board 620 is electrically connected to the power distribution board 510 and the equipment installed on the rear frame 102.

[0133] The integrated main controller 400 is located on one side of the front frame 101 and has a front interface board 410 integrated thereon, and on one side of the rear frame 102 and has a rear interface board 420 integrated thereon.

[0134] The front interface board 410 is electrically connected to the front control board 610, and the rear interface board 420 is electrically connected to the rear control board 620.

[0135] The integrated main controller 400 controls the operation of the integrated walking mechanism 200 and the integrated lifting mechanism 300 through the front interface board 410 and the rear interface board 420.

[0136] Specifically, as shown in Figures 1a, 1b, 2a and 2b, the devices installed on the front frame 101 include: a travel drive 210, a lifting drive 310, a navigation laser assembly 710, a front aerodynamic collision strip 721, a buzzer 730, a front emergency stop button 821 and a light strip 130.

[0137] All the devices installed on the front frame 101 are electrically connected to the front control board 610, and are electrically connected to the front interface board 410 of the integrated main controller 400 through the front control board 610.

[0138] The equipment installed on the rear frame 102 includes: a rotary actuator 340, a rear pneumatic collision bar 722, an operation screen 810, and a rear emergency stop button 822.

[0139] All the devices installed on the rear frame 102 are electrically connected to the rear control board 620, and are electrically connected to the rear interface board of the integrated main controller 400 through the rear control board 620.

[0140] As shown in Figures 6a to 7b, the front interface board 410 is equipped with a main control power interface 411, a front control board interface 412, a sensor interface 413, a buzzer interface 414, as well as multiple reserved interfaces 415 and a reserved network port 416.

[0141] The rear interface board 420 is equipped with a battery interface 421, a rear control board interface 422, a debugging interface 423, a Wi-Fi interface 424, an HDMI interface 425, and multiple USB interfaces 426.

[0142] By applying the embodiments of this application, the integrated main controller 400 integrates multiple interfaces, covering the functions of the interface board, saving a significant amount of installation space on the vehicle, increasing the movement space of the integrated lifting mechanism 300, and improving the compatibility of the integrated lifting mechanism 300. The equipment on the front frame 101 is electrically connected to the front interface board 410 of the integrated main controller 400 through the front control board 610, and the equipment on the rear frame 102 is electrically connected to the rear interface board 420 of the integrated main controller 400 through the rear control board 620. This makes the internal wiring of the stealth robot clear and neat, facilitating assembly and subsequent maintenance, allowing staff to quickly locate the corresponding cables based on the location of faulty equipment.

[0143] In some embodiments of this application, as shown in Figures 1a, 2a and 2b, the stealth robot further includes a safety obstacle avoidance component 700.

[0144] The safety obstacle avoidance component 700 includes: navigation laser component 710.

[0145] The navigation laser component 710 is located in the middle of the front end of the front frame 101 and is electrically connected to the front control board 610. It is used to detect obstacles on the ground and transmit signals to the integrated main controller 400 via the front control board 610. The integrated main controller 400 controls the operation of the integrated walking mechanism 200 according to the signals.

[0146] Specifically, the navigation laser component 710 emits a laser beam towards the front of the stealthy robot and receives the reflected laser beams, feeding back road condition information to the integrated main controller 400 via the front control board 610. If the road conditions are good and there are no obstacles, the integrated main controller 400 controls the integrated walking mechanism 200 to continue traveling along the prescribed route; if there are obstacles, it controls the integrated walking mechanism 200 to stop traveling or to move to another route to avoid them.

[0147] By applying the embodiments of this application, a navigation laser component 710 is provided, enabling the stealth robot to have obstacle avoidance capabilities and move more flexibly.

[0148] In some embodiments of this application, as shown in Figures 1a to 1c, the safety obstacle avoidance component 700 further includes: a front aerodynamic collision strip 721 disposed on the outer side of the front end of the front frame 101, and / or a rear aerodynamic collision strip 722 disposed on the outer side of the rear end of the rear frame 102.

[0149] The front aerodynamic collision strip 721 is electrically connected to the front control board 610 and is used to transmit a signal to the integrated main controller 400 via the front control board 610 after a collision. The integrated main controller 400 controls the integrated walking mechanism 200 to stop suddenly based on the signal.

[0150] The rear pneumatic collision strip 722 is electrically connected to the rear control board 620 and is used to transmit a signal through the rear control board 620 to the integrated main controller 400 after a collision. The integrated main controller 400 controls the integrated walking mechanism 200 to stop suddenly based on the signal.

[0151] Specifically, both the front aerodynamic collision strip 721 and the rear aerodynamic collision strip 722 are equipped with air pressure sensors, which can continuously transmit air pressure signals from the front aerodynamic collision strip 721 and the rear aerodynamic collision strip 722 to the integrated main controller 400.

[0152] Taking the front pneumatic collision strip 721 as an example, after the front pneumatic collision strip 721 is impacted by an external force, the air pressure sensor transmits the air pressure change signal of the air pipe inside the front pneumatic collision strip 721 to the front control board 610, and then the front control board 610 transmits it to the integrated main controller 400. The integrated main controller 400 sends an emergency stop signal to the walking drive 210 according to the air pressure change signal, causing the walking power unit 220 to stop providing power.

[0153] By applying the embodiments of this application and setting a front pneumatic collision strip 721 and / or a rear pneumatic collision strip 722, the stealth robot can automatically stop after being impacted. In other embodiments of this application, the aforementioned pneumatic collision strips can also be replaced with piezoelectric collision strips to sense collisions.

[0154] In some embodiments of this application, as shown in Figures 2a to 2c, the safety obstacle avoidance component 700 further includes a buzzer 730.

[0155] The buzzer 730 is mounted on the front frame 101 and is electrically connected to the front control board 610; the integrated main controller 400 can control the buzzer 730 to sound an alarm through the front control board 610.

[0156] According to the embodiments of this application, when the internal equipment of the stealth robot malfunctions, or when the stealth robot is hit by an external collision, the integrated main controller 400 can send a signal to the buzzer 730 to make the buzzer 730 sound an alarm, so as to prompt the staff to deal with the fault.

[0157] In some embodiments of this application, as shown in FIG2c, the stealth robot further includes a human-computer interaction component 800.

[0158] The human-computer interaction component 800 includes: an operation screen 810.

[0159] The operation screen 810 is located on the outer side of the rear end of the rear frame 102, and the rear control panel 620 is integrated on the back of the operation screen 810 and is electrically connected to the inside of the operation screen 810.

[0160] In the embodiments of this application, the rear control board 620 is integrated on the back of the operation screen 810 and electrically connected to the inside of the operation screen 810. This saves internal installation space in the chassis, reduces external wiring between the rear control board 620 and the operation screen 810, further reduces the number of internal wirings in the stealth robot, reduces assembly steps, and thus further improves assembly efficiency.

[0161] In some embodiments of this application, as shown in Figures 1a and 1b, the human-computer interaction component 800 further includes: a front emergency stop button 821 disposed on the outer side of the front end of the front frame 101, and / or a rear emergency stop button 822 disposed on the outer side of the rear end of the rear frame 102.

[0162] The front emergency stop button 821 is electrically connected to the front control board 610. When pressed, the front control board 610 transmits a signal to the integrated main controller 400, which controls the integrated walking mechanism 200 to stop in an emergency based on the signal.

[0163] The rear emergency stop button 822 is electrically connected to the rear control board 620. When pressed, the rear control board 620 transmits a signal to the integrated main controller 400, which controls the integrated walking mechanism 200 to stop in an emergency based on the signal.

[0164] When a malfunction occurs during the operation of the stealth robot, the front emergency stop button 821 or the rear emergency stop button 822 can be manually pressed to initiate an emergency stop.

[0165] In some embodiments of this application, as shown in FIG1a, the human-machine interaction component 800 further includes an integrated function button 830 disposed on the outer side of the front end of the front frame 101. Specifically, it may be a battery power-on button, a vehicle power-off button, a reset button, and an automatic / manual mode switching button, etc. This application does not limit this.

[0166] In some embodiments of this application, as shown in Figures 1b and 2b, the stealth robot further includes a charging port 900. The charging port 900 is located at the rear end of the rear frame 102 and is electrically connected to the battery 500.

[0167] Specifically, as shown in Figures 1b and 2b, in this embodiment, the charging port 900 is located in the middle of the rear end of the rear frame 102, making it easy to insert the charging head into the charging port 900. The charging port 900 is detachably installed on the rear frame 102, facilitating disassembly and maintenance of the charging port 900.

[0168] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0169] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A stealth robot, characterized in that, include: A chassis (100), and an integrated walking mechanism (200), an integrated lifting mechanism (300), an integrated main controller (400) and a battery (500) fixed on the chassis (100); The integrated walking mechanism (200) includes: a walking drive (210), a walking power unit (220), and active walking wheels (230); wherein, The walking driver (210) is integrated at one end of the walking power device (220), electrically connected to the inside of the walking power device (220), and controls the walking power device (220) to generate power; The active walking wheel (230) is in contact with the ground and is driven to the other end of the walking power device (220), and moves under the power provided by the walking power device (220); The integrated main controller (400) is electrically connected to the integrated walking mechanism (200) and the integrated lifting mechanism (300), controlling the integrated walking mechanism (200) to drive the chassis (100) to move, and controlling the integrated lifting mechanism (300) to drive the cargo to rise and fall; The battery (500) is electrically connected to the integrated walking mechanism (200), the integrated lifting mechanism (300) and the integrated main controller (400) via a power distribution board (510).

2. The stealth robot according to claim 1, characterized in that, The integrated lifting mechanism (300), located in the middle of the chassis (100), includes: a lifting drive (310), a lifting power unit (320), and a lifting assembly (330); wherein, The lifting driver (310) is integrated at one end of the lifting power device (320), electrically connected to the inside of the lifting power device (320), and controls the lifting power device (320) to generate power; The lifting assembly (330) is used to carry goods and is driven to the other end of the lifting power device (320). It moves up and down under the power provided by the lifting power device (320) to lift the goods.

3. The stealth robot according to claim 1 or 2, characterized in that, The chassis (100) includes a front frame (101) and a rear frame (102); the front frame (101) and the rear frame (102) are hinged by a horizontal connecting pin (103) so that the front frame (101) and the rear frame (102) can float up and down relative to the ground.

4. The stealth robot according to claim 3, characterized in that, The stealth robot has a front control board (610) disposed on the front frame (101) and a rear control board (620) disposed on the rear frame (102); The front control board (610) is electrically connected to the power distribution board (510) and the equipment disposed on the front frame (101); The rear control board (620) is electrically connected to the power distribution board (510) and the equipment disposed on the rear frame (102); The integrated main controller (400) has a front interface board (410) integrated on one side of the front frame (101) and a rear interface board (420) integrated on one side of the rear frame (102). The front interface board (410) is electrically connected to the front control board (610), and the rear interface board (420) is electrically connected to the rear control board (620). The integrated main controller (400) controls the operation of the integrated walking mechanism (200) and the integrated lifting mechanism (300) through the front interface board (410) and the rear interface board (420).

5. The stealth robot according to claim 3, characterized in that, The lifting assembly (330) is located in the middle of the chassis (100) and is connected to the chassis (100); The lifting power device (320) is located on the front frame (101) and is fixedly connected to the front frame (101). The bottom of the lifting power device (320) has a first receiving space for accommodating the power distribution board (510). The integrated walking mechanism (200) is disposed on both sides of the lifting assembly (330) along a direction parallel to the connecting pin (103); the battery (500) is disposed on the rear frame (102) and adjacent to the integrated walking mechanism (200); The lifting assembly (330) has a second accommodating space (3321) inside, and the integrated main controller (400) is disposed in the second accommodating space (3321) and fixedly connected to the chassis (100).

6. The stealth robot according to claim 2, characterized in that, The lifting assembly (330) includes a cargo platform (331) and a lifting linkage mechanism (332); The lifting linkage mechanism (332) is located between the cargo platform (331) and the chassis (100), and is driven to the other end of the lifting power device (320) to support and drive the cargo platform (331) to lift.

7. The stealth robot according to claim 6, characterized in that, The integrated main controller (400) is disposed inside the lifting linkage mechanism (332). The integrated main controller (400) also includes an upper code reading lens (430) located at the top of the integrated main controller (400) and a lower code reading lens (440) located at the bottom. The upper reading lens (430) corresponds to the position of the first through hole (3311) on the cargo platform (331) and is used to read the information of the cargo on the cargo platform (331) so that the control module in the integrated main controller (400) controls the operation of the integrated lifting mechanism (300) according to the information of the cargo; The lower reading lens (440) corresponds to the position of the second through hole (104) on the chassis (100) and is used to read the QR code information on the ground so that the control module in the integrated main controller (400) controls the operation of the integrated walking mechanism (200) according to the QR code information.

8. The stealth robot according to claim 6, characterized in that, The integrated lifting mechanism (300) further includes: a rotary drive (340), a rotary power unit (350), and a rotary assembly (360); wherein, The rotary actuator (340) is integrated at one end of the rotary power device (350) and electrically connected to the inside of the rotary power device (350) to control the rotary power device (350) to generate power; The rotating component (360) is disposed between the cargo platform (331) and the lifting linkage mechanism (332), and is driven to the other end of the rotating power device (350). It rotates under the power provided by the rotating power device (350) to drive the cargo platform (331) and the goods on the cargo platform (331) to rotate.

9. The stealth robot according to claim 8, characterized in that, The rotating assembly (360) includes: a drive gear (361) and a slewing bearing (362); The drive gear (361) is driven to the other end of the rotary power device (350); The inner ring (3621) of the slewing bearing (362) is fixedly connected to the lifting linkage mechanism (332); the outer ring (3622) of the slewing bearing (362) is fixedly connected to the cargo platform (331) and meshes with the drive gear (361); The drive gear (361) rotates under the power provided by the rotary power device (350), and drives the outer ring (3622) of the slewing bearing (362) to rotate, thereby driving the cargo platform (331) and the cargo on the cargo platform (331) to rotate.

10. The stealth robot according to claim 4, characterized in that, The stealth robot also includes: a safety obstacle avoidance component (700); The safety obstacle avoidance component (700) includes: a navigation laser component (710); The navigation laser component (710) is located in the middle of the front end of the front frame (101) and is electrically connected to the front control board (610). It is used to detect obstacles on the ground and transmit signals to the integrated main controller (400) via the front control board (610). The integrated main controller (400) controls the operation of the integrated walking mechanism (200) according to the signals.

11. The stealth robot according to claim 10, characterized in that, The safety obstacle avoidance component (700) also includes: The front aerodynamic collision strip (721) is disposed on the outer side of the front end of the front frame (101), and / or, Rear aerodynamic collision strip (722) is provided on the outer side of the rear end of the rear frame (102); The front aerodynamic collision strip (721) is electrically connected to the front control board (610) and is used to transmit a signal to the integrated main controller (400) via the front control board (610) after being collided. The integrated main controller (400) controls the integrated walking mechanism (200) to stop suddenly according to the signal. The rear pneumatic collision strip (722) is electrically connected to the rear control board (620) and is used to transmit a signal to the integrated main controller (400) via the rear control board (620) after being collided. The integrated main controller (400) controls the integrated walking mechanism (200) to stop suddenly according to the signal.

12. The stealth robot according to claim 10 or 11, characterized in that, The safety obstacle avoidance component (700) also includes: A buzzer (730) is mounted on the front frame (101) and electrically connected to the front control board (610); the integrated main controller (400) can control the buzzer (730) to sound an alarm through the front control board (610).

13. The stealth robot according to claim 4, characterized in that, The stealth robot also includes: a human-computer interaction component (800); The human-computer interaction component (800) includes: an operation screen (810); the operation screen (810) is disposed on the outer side of the rear end of the rear frame (102), and the rear control board (620) is integrated on the back of the operation screen (810) and electrically connected to the inside of the operation screen (810).

14. The stealth robot according to claim 13, characterized in that, The human-computer interaction component (800) also includes: The front emergency stop button (821) is located on the outer side of the front end of the front frame (101), and / or, The rear emergency stop button (822) is located on the outer side of the rear end of the rear frame (102); The front emergency stop button (821) is electrically connected to the front control board (610). When pressed, the front control board (610) transmits a signal to the integrated main controller (400), and the integrated main controller (400) controls the integrated walking mechanism (200) to stop urgently according to the signal. The rear emergency stop button (822) is electrically connected to the rear control board (620). When pressed, the rear control board (620) transmits a signal to the integrated main controller (400), and the integrated main controller (400) controls the integrated walking mechanism (200) to stop urgently according to the signal.

15. The stealth robot according to claim 3, characterized in that, The stealth robot also includes a charging port (900); the charging port (900) is located at the rear end of the rear frame (102) and is electrically connected to the battery (500).

16. The stealth robot according to claim 3, characterized in that, The stealth robot also includes: two omnidirectional casters (110); The two swivel casters (110) are respectively disposed on the bottom surfaces of the front frame (101) and the rear frame (102); the line connecting the axles of the two swivel casters (110) passes through the motion center of the chassis (100).

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